#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#

{%- if solver_options.qp_solver %}
	{%- set qp_solver = solver_options.qp_solver %}
{%- else %}
	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
{%- endif %}

{%- if solver_options.hessian_approx %}
	{%- set hessian_approx = solver_options.hessian_approx %}
{%- elif solver_options.sens_hess %}
	{%- set hessian_approx = "EXACT" %}
{%- else %}
	{%- set hessian_approx = "GAUSS_NEWTON" %}
{%- endif %}

{%- if constraints.constr_type %}
	{%- set constr_type = constraints.constr_type %}
{%- else %}
	{%- set constr_type = "NONE" %}
{%- endif %}

{%- if constraints.constr_type_e %}
	{%- set constr_type_e = constraints.constr_type_e %}
{%- else %}
	{%- set constr_type_e = "NONE" %}
{%- endif %}

{%- if cost.cost_type %}
	{%- set cost_type = cost.cost_type %}
{%- else %}
	{%- set cost_type = "NONE" %}
{%- endif %}

{%- if cost.cost_type_e %}
	{%- set cost_type_e = cost.cost_type_e %}
{%- else %}
	{%- set cost_type_e = "NONE" %}
{%- endif %}

{%- if cost.cost_type_0 %}
	{%- set cost_type_0 = cost.cost_type_0 %}
{%- else %}
	{%- set cost_type_0 = "NONE" %}
{%- endif %}

{%- if dims.nh %}
	{%- set dims_nh = dims.nh %}
{%- else %}
	{%- set dims_nh = 0 %}
{%- endif %}

{%- if dims.nphi %}
	{%- set dims_nphi = dims.nphi %}
{%- else %}
	{%- set dims_nphi = 0 %}
{%- endif %}

{%- if dims.nh_e %}
	{%- set dims_nh_e = dims.nh_e %}
{%- else %}
	{%- set dims_nh_e = 0 %}
{%- endif %}

{%- if dims.nphi_e %}
	{%- set dims_nphi_e = dims.nphi_e %}
{%- else %}
	{%- set dims_nphi_e = 0 %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_dir %}
	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_name %}
	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
{%- endif %}

{# control operator #}
{%- if os and os == "pc" %}
	{%- set control = "&" %}
{%- else %}
	{%- set control = ";" %}
{%- endif %}

{# acados linking libraries and flags #}
{%- if acados_link_libs and os and os == "pc" %}
	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
	{%- set openmp_flag = acados_link_libs.openmp %}
{%- else %}
	{%- set openmp_flag = " " %}
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
		{%- set link_libs = "-lqpOASES_e" %}
	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
		{%- set link_libs = "-ldaqp" %}
	{%- else %}
		{%- set link_libs = "" %}
	{%- endif %}
{%- endif %}

# define sources and use make's implicit rules to generate object files (*.o)

# model
MODEL_SRC=
	{%- if model.dyn_ext_fun_type == "casadi" %}
{%- if solver_options.integrator_type == "ERK" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
	{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
	{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
		{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
		{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
	{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
	{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
	{% if model.gnsf.purely_linear != 1 %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
		{% if model.gnsf.nontrivial_f_LO == 1 %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
		{%- endif %}
	{%- endif %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
{%- elif solver_options.integrator_type == "DISCRETE" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
		{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
		{%- endif %}
{%- endif %}
	{%- else %}
MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
	{%- endif %}
MODEL_OBJ := $(MODEL_SRC:.c=.o)

# optimal control problem - mostly CasADi exports
OCP_SRC=
{%- if constr_type == "BGP" and dims_nphi > 0 %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
{%- endif %}

{%- if constr_type == "BGH" and dims_nh > 0 %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
	{%- if hessian_approx == "EXACT" %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
	{%- endif %}
{%- endif %}

{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
	{%- if hessian_approx == "EXACT" %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
	{%- endif %}
{%- endif %}

{%- if cost_type_0 == "NONLINEAR_LS" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
{%- elif cost_type_0 == "EXTERNAL" %}
	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
	{%- else %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
	{%- endif %}
{%- endif %}
{%- if cost_type == "NONLINEAR_LS" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
{%- elif cost_type == "EXTERNAL" %}
	{%- if cost.cost_ext_fun_type == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
	{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
	{%- endif %}
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
{%- elif cost_type_e == "EXTERNAL" %}
	{%- if cost.cost_ext_fun_type_e == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
	{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
	{%- endif %}
{%- endif %}
{%- if solver_options.custom_update_filename %}
	{%- if solver_options.custom_update_filename != "" %}
OCP_SRC+= {{ solver_options.custom_update_filename }}
	{%- endif %}
{%- endif %}

OCP_SRC+= acados_solver_{{ model.name }}.c
OCP_OBJ := $(OCP_SRC:.c=.o)

# for sim solver
SIM_SRC= acados_sim_solver_{{ model.name }}.c
SIM_OBJ := $(SIM_SRC:.c=.o)

# for target example
EX_SRC= main_{{ model.name }}.c
EX_OBJ := $(EX_SRC:.c=.o)
EX_EXE := $(EX_SRC:.c=)

# for target example_sim
EX_SIM_SRC= main_sim_{{ model.name }}.c
EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
EX_SIM_EXE := $(EX_SIM_SRC:.c=)

# combine model, sim and ocp object files
OBJ=
OBJ+= $(MODEL_OBJ)
{%- if solver_options.integrator_type != "DISCRETE" %}
OBJ+= $(SIM_OBJ)
{%- endif %}
OBJ+= $(OCP_OBJ)

EXTERNAL_DIR=
EXTERNAL_LIB=

{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
{%- endif %}

INCLUDE_PATH = {{ acados_include_path }}
LIB_PATH = {{ acados_lib_path }}

# preprocessor flags for make's implicit rules
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
CPPFLAGS += -DACADOS_WITH_QPOASES
{%- endif %}
{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
CPPFLAGS += -DACADOS_WITH_DAQP
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
CPPFLAGS += -DACADOS_WITH_OSQP
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
CPPFLAGS += -DACADOS_WITH_QPDUNES
{%- endif %}
CPPFLAGS+= -I$(INCLUDE_PATH)
CPPFLAGS+= -I$(INCLUDE_PATH)/acados
CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
 {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
 {%- endif %}
 {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
 {%- endif %}

{# c-compiler flags #}
# define the c-compiler flags for make's implicit rules
CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
# # Debugging
# CFLAGS += -g3

# linker flags
LDFLAGS+= -L$(LIB_PATH)

# link to libraries
LDLIBS+= -lacados
LDLIBS+= -lhpipm
LDLIBS+= -lblasfeo
LDLIBS+= -lm
LDLIBS+= {{ link_libs }}

# libraries
LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})

# virtual targets
.PHONY : all clean

#all: clean example_sim example shared_lib
{% if solver_options.integrator_type == "DISCRETE" -%}
all: clean example
shared_lib: ocp_shared_lib
{%- else %}
all: clean example_sim example
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
{%- endif %}

# some linker targets
example: $(EX_OBJ) $(OBJ)
	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)

example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)

{% if solver_options.integrator_type != "DISCRETE" -%}
bundled_shared_lib: $(OBJ)
	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
{%- endif %}

ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)

sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)


# Cython targets
ocp_cython_c: ocp_shared_lib
	cython \
	-o acados_ocp_solver_pyx.c \
	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
	-I {{ code_export_directory }} \

ocp_cython_o: ocp_cython_c
	$(CC) $(ACADOS_FLAGS) -c -O2 \
	-fPIC \
	-o acados_ocp_solver_pyx.o \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	{%- for path in cython_include_dirs %}
	-I {{ path }} \
	{%- endfor %}
	acados_ocp_solver_pyx.c \

ocp_cython: ocp_cython_o
	$(CC) $(ACADOS_FLAGS) -shared \
	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
	-Wl,-rpath=$(LIB_PATH) \
	acados_ocp_solver_pyx.o \
	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
	$(LDFLAGS) $(LDLIBS)

# Sim Cython targets
sim_cython_c: sim_shared_lib
	cython \
	-o acados_sim_solver_pyx.c \
	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
	-I {{ code_export_directory }} \

sim_cython_o: sim_cython_c
	$(CC) $(ACADOS_FLAGS) -c -O2 \
	-fPIC \
	-o acados_sim_solver_pyx.o \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	{%- for path in cython_include_dirs %}
	-I {{ path }} \
	{%- endfor %}
	acados_sim_solver_pyx.c \

sim_cython: sim_cython_o
	$(CC) $(ACADOS_FLAGS) -shared \
	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
	-Wl,-rpath=$(LIB_PATH) \
	acados_sim_solver_pyx.o \
	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
	$(LDFLAGS) $(LDLIBS)

{%- if os and os == "pc" %}

clean:
	del \Q *.o 2>nul
	del \Q *{{ shared_lib_ext }} 2>nul
	del \Q main_{{ model.name }} 2>nul

clean_ocp_shared_lib:
	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
	del \Q acados_solver_{{ model.name }}.o 2>nul

clean_ocp_cython:
	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
	del \Q acados_solver_{{ model.name }}.o 2>nul
	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
	del \Q acados_ocp_solver_pyx.o 2>nul

clean_sim_cython:
	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
	del \Q acados_sim_solver_pyx.o 2>nul

{%- else %}

clean:
	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
	$(RM) $(EX_EXE) $(EX_SIM_EXE)

clean_ocp_shared_lib:
	$(RM) $(LIBACADOS_OCP_SOLVER)
	$(RM) $(OCP_OBJ)

clean_ocp_cython:
	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
	$(RM) acados_solver_{{ model.name }}.o
	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
	$(RM) acados_ocp_solver_pyx.o

clean_sim_cython:
	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
	$(RM) acados_sim_solver_{{ model.name }}.o
	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
	$(RM) acados_sim_solver_pyx.o

{%- endif %}
